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<div class="title">_PolySplineXYZ.py</div>  </div>
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<a href="___poly_spline_x_y_z_8py.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"><a class="line" href="namespacetraj__gen_1_1msg_1_1___poly_spline_x_y_z.html">    1</a></span>&#160;<span class="comment"># This Python file uses the following encoding: utf-8</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="stringliteral">&quot;&quot;&quot;autogenerated by genpy from traj_gen/PolySplineXYZ.msg. Do not edit.&quot;&quot;&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="keyword">import</span> sys</div><div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="namespacetraj__gen_1_1msg_1_1___poly_spline_x_y_z.html#acba6768869ec464182f66f04ad421acd">    4</a></span>&#160;python3 = <span class="keyword">True</span> <span class="keywordflow">if</span> sys.hexversion &gt; 0x03000000 <span class="keywordflow">else</span> <span class="keyword">False</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">import</span> genpy</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">import</span> struct</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">import</span> <a class="code" href="namespacetraj__gen_1_1msg.html">traj_gen.msg</a></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html">   10</a></span>&#160;<span class="keyword">class </span><a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html">PolySplineXYZ</a>(genpy.Message):</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  _md5sum = <span class="stringliteral">&quot;cde8ea48996e4cbc3defb260ac40b943&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  _type = <span class="stringliteral">&quot;traj_gen/PolySplineXYZ&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  _has_header = <span class="keyword">False</span> <span class="comment">#flag to mark the presence of a Header object</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  _full_text = <span class="stringliteral">&quot;&quot;&quot;bool is_valid</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="stringliteral">traj_gen/PolySpline spline_x</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="stringliteral">traj_gen/PolySpline spline_y </span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="stringliteral">traj_gen/PolySpline spline_z</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="stringliteral">int8 n_seg</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="stringliteral">int8 poly_order</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="stringliteral">float64[] knot_time </span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="stringliteral">================================================================================</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="stringliteral">MSG: traj_gen/PolySpline</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="stringliteral">traj_gen/PolyCoeff[] poly_coeff</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="stringliteral">float64[] knot_time </span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="stringliteral">int8 n_seg</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="stringliteral">bool is_valid</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="stringliteral">================================================================================</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="stringliteral">MSG: traj_gen/PolyCoeff</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="stringliteral">float64[] coeff</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="stringliteral">int8 poly_order</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  __slots__ = [<span class="stringliteral">&#39;is_valid&#39;</span>,<span class="stringliteral">&#39;spline_x&#39;</span>,<span class="stringliteral">&#39;spline_y&#39;</span>,<span class="stringliteral">&#39;spline_z&#39;</span>,<span class="stringliteral">&#39;n_seg&#39;</span>,<span class="stringliteral">&#39;poly_order&#39;</span>,<span class="stringliteral">&#39;knot_time&#39;</span>]</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  _slot_types = [<span class="stringliteral">&#39;bool&#39;</span>,<span class="stringliteral">&#39;traj_gen/PolySpline&#39;</span>,<span class="stringliteral">&#39;traj_gen/PolySpline&#39;</span>,<span class="stringliteral">&#39;traj_gen/PolySpline&#39;</span>,<span class="stringliteral">&#39;int8&#39;</span>,<span class="stringliteral">&#39;int8&#39;</span>,<span class="stringliteral">&#39;float64[]&#39;</span>]</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a2826aff376174a6cfdce5376a693c7cf">   41</a></span>&#160;  <span class="keyword">def </span><a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a2826aff376174a6cfdce5376a693c7cf">__init__</a>(self, *args, **kwds):</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="stringliteral">    Constructor. Any message fields that are implicitly/explicitly</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="stringliteral">    set to None will be assigned a default value. The recommend</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="stringliteral">    use is keyword arguments as this is more robust to future message</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="stringliteral">    changes.  You cannot mix in-order arguments and keyword arguments.</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="stringliteral">    The available fields are:</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="stringliteral">       is_valid,spline_x,spline_y,spline_z,n_seg,poly_order,knot_time</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="stringliteral"></span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="stringliteral">    :param args: complete set of field values, in .msg order</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="stringliteral">    :param kwds: use keyword arguments corresponding to message field names</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="stringliteral">    to set specific fields.</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="stringliteral">    &quot;&quot;&quot;</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">if</span> args <span class="keywordflow">or</span> kwds:</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      super(PolySplineXYZ, self).<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a2826aff376174a6cfdce5376a693c7cf">__init__</a>(*args, **kwds)</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="comment">#message fields cannot be None, assign default values for those that are</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">   59</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a> = <span class="keyword">False</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">   61</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">   63</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">   65</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a9964ecf9e41c4257825fc021a387d596">n_seg</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a9964ecf9e41c4257825fc021a387d596">   67</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a9964ecf9e41c4257825fc021a387d596">n_seg</a> = 0</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aca5acdafacdb1eaad54896b41b24bff6">poly_order</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aca5acdafacdb1eaad54896b41b24bff6">   69</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aca5acdafacdb1eaad54896b41b24bff6">poly_order</a> = 0</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">   71</a></span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a> = []</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">else</span>:</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a> = <span class="keyword">False</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a9964ecf9e41c4257825fc021a387d596">n_seg</a> = 0</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aca5acdafacdb1eaad54896b41b24bff6">poly_order</a> = 0</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a> = []</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">def </span>_get_types(self):</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="stringliteral">    internal API method</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="stringliteral">    &quot;&quot;&quot;</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">return</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a5cff4075bea0cc6366ea94cb719ee0ab">_slot_types</a></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a7378f3f54db87638a865e2b228e835a7">   87</a></span>&#160;  <span class="keyword">def </span><a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a7378f3f54db87638a865e2b228e835a7">serialize</a>(self, buff):</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="stringliteral">    serialize message into buffer</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="stringliteral">    :param buff: buffer, ``StringIO``</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="stringliteral">    &quot;&quot;&quot;</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">try</span>:</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      buff.write(_get_struct_B().pack(self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a>))</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      length = len(self.spline_x.poly_coeff)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">for</span> val1 <span class="keywordflow">in</span> self.spline_x.poly_coeff:</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        length = len(val1.coeff)</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        buff.write(struct.pack(pattern, *val1.coeff))</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        buff.write(_get_struct_b().pack(val1.poly_order))</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      length = len(self.spline_x.knot_time)</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      buff.write(struct.pack(pattern, *self.spline_x.knot_time))</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      _x = self</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      buff.write(_get_struct_bB().pack(_x.spline_x.n_seg, _x.spline_x.is_valid))</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      length = len(self.spline_y.poly_coeff)</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">for</span> val1 <span class="keywordflow">in</span> self.spline_y.poly_coeff:</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        length = len(val1.coeff)</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        buff.write(struct.pack(pattern, *val1.coeff))</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        buff.write(_get_struct_b().pack(val1.poly_order))</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      length = len(self.spline_y.knot_time)</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      buff.write(struct.pack(pattern, *self.spline_y.knot_time))</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      _x = self</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      buff.write(_get_struct_bB().pack(_x.spline_y.n_seg, _x.spline_y.is_valid))</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      length = len(self.spline_z.poly_coeff)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordflow">for</span> val1 <span class="keywordflow">in</span> self.spline_z.poly_coeff:</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        length = len(val1.coeff)</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        buff.write(struct.pack(pattern, *val1.coeff))</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        buff.write(_get_struct_b().pack(val1.poly_order))</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      length = len(self.spline_z.knot_time)</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      buff.write(struct.pack(pattern, *self.spline_z.knot_time))</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      _x = self</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      buff.write(_get_struct_bB2b().pack(_x.spline_z.n_seg, _x.spline_z.is_valid, _x.n_seg, _x.poly_order))</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      length = len(self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a>)</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      buff.write(struct.pack(pattern, *self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a>))</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">except</span> struct.error <span class="keyword">as</span> se: self._check_types(struct.error(<span class="stringliteral">&quot;%s: &#39;%s&#39; when writing &#39;%s&#39;&quot;</span> % (type(se), str(se), str(locals().get(<span class="stringliteral">&#39;_x&#39;</span>, self)))))</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">except</span> TypeError <span class="keyword">as</span> te: self._check_types(ValueError(<span class="stringliteral">&quot;%s: &#39;%s&#39; when writing &#39;%s&#39;&quot;</span> % (type(te), str(te), str(locals().get(<span class="stringliteral">&#39;_x&#39;</span>, self)))))</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#ab994d22256f65767bdf46fec77a43979">  143</a></span>&#160;  <span class="keyword">def </span><a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#ab994d22256f65767bdf46fec77a43979">deserialize</a>(self, str):</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="stringliteral">    unpack serialized message in str into this message instance</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="stringliteral">    :param str: byte array of serialized message, ``str``</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="stringliteral">    &quot;&quot;&quot;</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">try</span>:</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      end = 0</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      start = end</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      end += 1</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      (self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a>,) = _get_struct_B().unpack(str[start:end])</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a> = bool(self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a>)</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      start = end</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      end += 4</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      self.spline_x.poly_coeff = []</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0, length):</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        val1 = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg.PolyCoeff</a>()</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        start = end</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        end += 4</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        start = end</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        end += struct.calcsize(pattern)</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        val1.coeff = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        start = end</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        end += 1</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        (val1.poly_order,) = _get_struct_b().unpack(str[start:end])</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        self.spline_x.poly_coeff.append(val1)</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      start = end</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      end += 4</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      start = end</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      self.spline_x.knot_time = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      _x = self</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      start = end</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      end += 2</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      (_x.spline_x.n_seg, _x.spline_x.is_valid,) = _get_struct_bB().unpack(str[start:end])</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      self.spline_x.is_valid = bool(self.spline_x.is_valid)</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      start = end</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      end += 4</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      self.spline_y.poly_coeff = []</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0, length):</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        val1 = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg.PolyCoeff</a>()</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        start = end</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        end += 4</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        start = end</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        end += struct.calcsize(pattern)</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        val1.coeff = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        start = end</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        end += 1</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        (val1.poly_order,) = _get_struct_b().unpack(str[start:end])</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        self.spline_y.poly_coeff.append(val1)</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      start = end</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      end += 4</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      start = end</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      self.spline_y.knot_time = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      _x = self</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      start = end</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      end += 2</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      (_x.spline_y.n_seg, _x.spline_y.is_valid,) = _get_struct_bB().unpack(str[start:end])</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      self.spline_y.is_valid = bool(self.spline_y.is_valid)</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      start = end</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      end += 4</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      self.spline_z.poly_coeff = []</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0, length):</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        val1 = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg.PolyCoeff</a>()</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        start = end</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        end += 4</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        start = end</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        end += struct.calcsize(pattern)</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        val1.coeff = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        start = end</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        end += 1</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        (val1.poly_order,) = _get_struct_b().unpack(str[start:end])</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        self.spline_z.poly_coeff.append(val1)</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      start = end</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      end += 4</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      start = end</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      self.spline_z.knot_time = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      _x = self</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      start = end</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      end += 4</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      (_x.spline_z.n_seg, _x.spline_z.is_valid, _x.n_seg, _x.poly_order,) = _get_struct_bB2b().unpack(str[start:end])</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      self.spline_z.is_valid = bool(self.spline_z.is_valid)</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      start = end</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      end += 4</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      start = end</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a> = struct.unpack(pattern, str[start:end])</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keywordflow">return</span> self</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">except</span> struct.error <span class="keyword">as</span> e:</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordflow">raise</span> genpy.DeserializationError(e) <span class="comment">#most likely buffer underfill</span></div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aaeac81adae206d1d2053e4078b1dd4f9">  259</a></span>&#160;  <span class="keyword">def </span><a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aaeac81adae206d1d2053e4078b1dd4f9">serialize_numpy</a>(self, buff, numpy):</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="stringliteral">    serialize message with numpy array types into buffer</span></div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="stringliteral">    :param buff: buffer, ``StringIO``</span></div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="stringliteral">    :param numpy: numpy python module</span></div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="stringliteral">    &quot;&quot;&quot;</span></div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keywordflow">try</span>:</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      buff.write(_get_struct_B().pack(self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a>))</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      length = len(self.spline_x.poly_coeff)</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordflow">for</span> val1 <span class="keywordflow">in</span> self.spline_x.poly_coeff:</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        length = len(val1.coeff)</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        buff.write(val1.coeff.tostring())</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        buff.write(_get_struct_b().pack(val1.poly_order))</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      length = len(self.spline_x.knot_time)</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      buff.write(self.spline_x.knot_time.tostring())</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      _x = self</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      buff.write(_get_struct_bB().pack(_x.spline_x.n_seg, _x.spline_x.is_valid))</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      length = len(self.spline_y.poly_coeff)</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordflow">for</span> val1 <span class="keywordflow">in</span> self.spline_y.poly_coeff:</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        length = len(val1.coeff)</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        buff.write(val1.coeff.tostring())</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        buff.write(_get_struct_b().pack(val1.poly_order))</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      length = len(self.spline_y.knot_time)</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      buff.write(self.spline_y.knot_time.tostring())</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      _x = self</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      buff.write(_get_struct_bB().pack(_x.spline_y.n_seg, _x.spline_y.is_valid))</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      length = len(self.spline_z.poly_coeff)</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordflow">for</span> val1 <span class="keywordflow">in</span> self.spline_z.poly_coeff:</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        length = len(val1.coeff)</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        buff.write(val1.coeff.tostring())</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        buff.write(_get_struct_b().pack(val1.poly_order))</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      length = len(self.spline_z.knot_time)</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      buff.write(self.spline_z.knot_time.tostring())</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      _x = self</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      buff.write(_get_struct_bB2b().pack(_x.spline_z.n_seg, _x.spline_z.is_valid, _x.n_seg, _x.poly_order))</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      length = len(self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a>)</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      buff.write(_struct_I.pack(length))</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      buff.write(self.knot_time.tostring())</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">except</span> struct.error <span class="keyword">as</span> se: self._check_types(struct.error(<span class="stringliteral">&quot;%s: &#39;%s&#39; when writing &#39;%s&#39;&quot;</span> % (type(se), str(se), str(locals().get(<span class="stringliteral">&#39;_x&#39;</span>, self)))))</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keywordflow">except</span> TypeError <span class="keyword">as</span> te: self._check_types(ValueError(<span class="stringliteral">&quot;%s: &#39;%s&#39; when writing &#39;%s&#39;&quot;</span> % (type(te), str(te), str(locals().get(<span class="stringliteral">&#39;_x&#39;</span>, self)))))</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aa35662faebc2d49a8f52e96714539fe8">  316</a></span>&#160;  <span class="keyword">def </span><a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aa35662faebc2d49a8f52e96714539fe8">deserialize_numpy</a>(self, str, numpy):</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="stringliteral">&quot;&quot;&quot;</span></div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="stringliteral">    unpack serialized message in str into this message instance using numpy for array types</span></div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="stringliteral">    :param str: byte array of serialized message, ``str``</span></div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="stringliteral">    :param numpy: numpy python module</span></div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="stringliteral">    &quot;&quot;&quot;</span></div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordflow">try</span>:</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">spline_x</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">spline_y</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keywordflow">if</span> self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">spline_z</a> = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg.PolySpline</a>()</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      end = 0</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      start = end</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      end += 1</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      (self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a>,) = _get_struct_B().unpack(str[start:end])</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a> = bool(self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">is_valid</a>)</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      start = end</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      end += 4</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      self.spline_x.poly_coeff = []</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0, length):</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        val1 = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg.PolyCoeff</a>()</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        start = end</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        end += 4</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        start = end</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        end += struct.calcsize(pattern)</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        val1.coeff = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        start = end</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        end += 1</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        (val1.poly_order,) = _get_struct_b().unpack(str[start:end])</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        self.spline_x.poly_coeff.append(val1)</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      start = end</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      end += 4</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      start = end</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      self.spline_x.knot_time = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      _x = self</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      start = end</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      end += 2</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      (_x.spline_x.n_seg, _x.spline_x.is_valid,) = _get_struct_bB().unpack(str[start:end])</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      self.spline_x.is_valid = bool(self.spline_x.is_valid)</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      start = end</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      end += 4</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      self.spline_y.poly_coeff = []</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0, length):</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        val1 = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg.PolyCoeff</a>()</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        start = end</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        end += 4</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        start = end</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        end += struct.calcsize(pattern)</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        val1.coeff = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        start = end</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        end += 1</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        (val1.poly_order,) = _get_struct_b().unpack(str[start:end])</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        self.spline_y.poly_coeff.append(val1)</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      start = end</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      end += 4</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      start = end</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      self.spline_y.knot_time = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      _x = self</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      start = end</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      end += 2</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      (_x.spline_y.n_seg, _x.spline_y.is_valid,) = _get_struct_bB().unpack(str[start:end])</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      self.spline_y.is_valid = bool(self.spline_y.is_valid)</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      start = end</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      end += 4</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      self.spline_z.poly_coeff = []</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0, length):</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        val1 = <a class="code" href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg.PolyCoeff</a>()</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        start = end</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        end += 4</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        start = end</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        end += struct.calcsize(pattern)</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        val1.coeff = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        start = end</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        end += 1</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        (val1.poly_order,) = _get_struct_b().unpack(str[start:end])</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        self.spline_z.poly_coeff.append(val1)</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      start = end</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      end += 4</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      start = end</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      self.spline_z.knot_time = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      _x = self</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      start = end</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      end += 4</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      (_x.spline_z.n_seg, _x.spline_z.is_valid, _x.n_seg, _x.poly_order,) = _get_struct_bB2b().unpack(str[start:end])</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      self.spline_z.is_valid = bool(self.spline_z.is_valid)</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      start = end</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      end += 4</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      (length,) = _struct_I.unpack(str[start:end])</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      pattern = <span class="stringliteral">&#39;&lt;%sd&#39;</span>%length</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      start = end</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      end += struct.calcsize(pattern)</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      self.<a class="code" href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">knot_time</a> = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      <span class="keywordflow">return</span> self</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordflow">except</span> struct.error <span class="keyword">as</span> e:</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <span class="keywordflow">raise</span> genpy.DeserializationError(e) <span class="comment">#most likely buffer underfill</span></div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;_struct_I = genpy.struct_I</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="keyword">def </span>_get_struct_I():</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keyword">global</span> _struct_I</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <span class="keywordflow">return</span> _struct_I</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;_struct_bB2b = <span class="keywordtype">None</span></div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="keyword">def </span>_get_struct_bB2b():</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="keyword">global</span> _struct_bB2b</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="keywordflow">if</span> _struct_bB2b <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        _struct_bB2b = struct.Struct(<span class="stringliteral">&quot;&lt;bB2b&quot;</span>)</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="keywordflow">return</span> _struct_bB2b</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;_struct_B = <span class="keywordtype">None</span></div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="keyword">def </span>_get_struct_B():</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keyword">global</span> _struct_B</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    <span class="keywordflow">if</span> _struct_B <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        _struct_B = struct.Struct(<span class="stringliteral">&quot;&lt;B&quot;</span>)</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="keywordflow">return</span> _struct_B</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;_struct_b = <span class="keywordtype">None</span></div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="keyword">def </span>_get_struct_b():</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    <span class="keyword">global</span> _struct_b</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <span class="keywordflow">if</span> _struct_b <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        _struct_b = struct.Struct(<span class="stringliteral">&quot;&lt;b&quot;</span>)</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    <span class="keywordflow">return</span> _struct_b</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;_struct_bB = <span class="keywordtype">None</span></div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="keyword">def </span>_get_struct_bB():</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keyword">global</span> _struct_bB</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="keywordflow">if</span> _struct_bB <span class="keywordflow">is</span> <span class="keywordtype">None</span>:</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        _struct_bB = struct.Struct(<span class="stringliteral">&quot;&lt;bB&quot;</span>)</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keywordflow">return</span> _struct_bB</div><div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a4041178e81d5cf3ba4b2f72cedc9bdb5"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4041178e81d5cf3ba4b2f72cedc9bdb5">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.spline_y</a></div><div class="ttdeci">spline_y</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00063">_PolySplineXYZ.py:63</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_aca5acdafacdb1eaad54896b41b24bff6"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aca5acdafacdb1eaad54896b41b24bff6">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.poly_order</a></div><div class="ttdeci">poly_order</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00069">_PolySplineXYZ.py:69</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline_html"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_1_1_poly_spline.html">traj_gen.msg._PolySpline.PolySpline</a></div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_8py_source.html#l00010">_PolySpline.py:10</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_aaeac81adae206d1d2053e4078b1dd4f9"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aaeac81adae206d1d2053e4078b1dd4f9">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.serialize_numpy</a></div><div class="ttdeci">def serialize_numpy(self, buff, numpy)</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00259">_PolySplineXYZ.py:259</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a898ea3519aafc59e84222844042a5876"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a898ea3519aafc59e84222844042a5876">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.is_valid</a></div><div class="ttdeci">is_valid</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00059">_PolySplineXYZ.py:59</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a4e4226ec1ac7dea49a81a5ae4b98db1b"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a4e4226ec1ac7dea49a81a5ae4b98db1b">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.spline_z</a></div><div class="ttdeci">spline_z</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00065">_PolySplineXYZ.py:65</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_aa35662faebc2d49a8f52e96714539fe8"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#aa35662faebc2d49a8f52e96714539fe8">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.deserialize_numpy</a></div><div class="ttdeci">def deserialize_numpy(self, str, numpy)</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00316">_PolySplineXYZ.py:316</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a5cff4075bea0cc6366ea94cb719ee0ab"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a5cff4075bea0cc6366ea94cb719ee0ab">traj_gen.msg._PolySplineXYZ.PolySplineXYZ._slot_types</a></div><div class="ttdeci">list _slot_types</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00039">_PolySplineXYZ.py:39</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_ab994d22256f65767bdf46fec77a43979"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#ab994d22256f65767bdf46fec77a43979">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.deserialize</a></div><div class="ttdeci">def deserialize(self, str)</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00143">_PolySplineXYZ.py:143</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a7378f3f54db87638a865e2b228e835a7"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a7378f3f54db87638a865e2b228e835a7">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.serialize</a></div><div class="ttdeci">def serialize(self, buff)</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00087">_PolySplineXYZ.py:87</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_adf0cb1ba860ae7320d770e719b6c1f08"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#adf0cb1ba860ae7320d770e719b6c1f08">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.knot_time</a></div><div class="ttdeci">knot_time</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00071">_PolySplineXYZ.py:71</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html">traj_gen.msg._PolySplineXYZ.PolySplineXYZ</a></div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00010">_PolySplineXYZ.py:10</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a2826aff376174a6cfdce5376a693c7cf"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a2826aff376174a6cfdce5376a693c7cf">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.__init__</a></div><div class="ttdeci">def __init__(self, args, kwds)</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00041">_PolySplineXYZ.py:41</a></div></div>
<div class="ttc" id="namespacetraj__gen_1_1msg_html"><div class="ttname"><a href="namespacetraj__gen_1_1msg.html">traj_gen.msg</a></div><div class="ttdef"><b>Definition:</b> <a href="msg_2____init_____8py_source.html#l00001">__init__.py:1</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a9964ecf9e41c4257825fc021a387d596"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a9964ecf9e41c4257825fc021a387d596">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.n_seg</a></div><div class="ttdeci">n_seg</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00067">_PolySplineXYZ.py:67</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z_html_a3a53e3b645ebf7e3e2348cc0b109270c"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_spline_x_y_z_1_1_poly_spline_x_y_z.html#a3a53e3b645ebf7e3e2348cc0b109270c">traj_gen.msg._PolySplineXYZ.PolySplineXYZ.spline_x</a></div><div class="ttdeci">spline_x</div><div class="ttdef"><b>Definition:</b> <a href="___poly_spline_x_y_z_8py_source.html#l00061">_PolySplineXYZ.py:61</a></div></div>
<div class="ttc" id="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff_html"><div class="ttname"><a href="classtraj__gen_1_1msg_1_1___poly_coeff_1_1_poly_coeff.html">traj_gen.msg._PolyCoeff.PolyCoeff</a></div><div class="ttdef"><b>Definition:</b> <a href="___poly_coeff_8py_source.html#l00009">_PolyCoeff.py:9</a></div></div>
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